Two-Degree-Of-Freedom Control Mode (Velocity Control) - Panasonic MINAS A6 Series Operating Instructions Manual

5
Adjustment
Outline
In the two-degree-of-freedom control mode, command response and servo rigidity can be
independently set with improved responsiveness. This mode has enhanced speed con-
trol functions.
Applicable Range
This function can be applicable only when the following condition are satisfied.
Control Mode Speed control
Others
Related Parameter
First, set Pr6.47 Function expansion setup 2 to 1 and write the setting to EEPROM. Re-
set the control power supply to enable the two-degree-of-freedom control mode. Adjust
the gain by using the real-time auto-tuning (refer to P.5-10). If further improvement is nec-
essary, manually fine tune the following parameters while checking the response.
Class No.
6
2
6
Related page
• P.4-6 to P.4-85... "Details of parameter"
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5-64
5. Manual Gain Tuning (Application)
Two-degree-of-freedom control mode (Velocity control mode)
the Two-degree-of-freedom control mode is activated.
• Should be servo-on condition.
• Factors other than control parameters such as torque limit should be
properly setup, allowing motor to operate normally.
Title
Set up various functions bit by bit.
Function
bit 0 Two-degree-of-freedom control mode
47 expansion
settings 2
* The least significant bit is represented by bit0.
While the two-degree-of-freedom control real-time auto-
tuning is selected, time constant of command filter is applied
with the maximum value limited to 640 (= 64.0 ms).
First order filter
(The value of the parameter is not limited but the value to be
22 time constant
applied to driver is limited.)
for command
Decreasing the value of this parameter makes command
response fast and large, resulting smooth command
response.
To set the time constant of adjustment filter.
When the torque filter setting is changed, set the adjustment
filter to a near value while referring to setting of real-time
48 Adjust filter auto-tuning. In addition, by finely adjusting the adjustment
filter while monitoring the encoder position deviation in the
vicinity of steady state, overshoot or vibration waveforms
may be sometimes improved.
Conditions under which
Function
0: Invalid 1: Valid